code: def main():
      """Start function"""
      argparser = argparse.ArgumentParser(
          description="CARLA Sensor sync and projection tutorial"
      )
      argparser.add_argument(
          "--host",
          metavar="H",
          default="127.0.0.1",
          help="IP of the host server (default: 127.0.0.1)",
      )
      argparser.add_argument(
          "-p",
          "--port",
          metavar="P",
          default=2000,
          type=int,
          help="TCP port to listen to (default: 2000)",
      )
      argparser.add_argument(
          "--res",
          metavar="WIDTHxHEIGHT",
          default="680x420",
          help="window resolution (default: 1280x720)",
      )
      argparser.add_argument(
          "-f",
          "--frames",
          metavar="N",
          default=500,
          type=int,
          help="number of frames to record (default: 500)",
      )
      argparser.add_argument(
          "-d",
          "--dot-extent",
          metavar="SIZE",
          default=2,
          type=int,
          help="visualization dot extent in pixels (Recomended [1-4]) (default: 2)",
      )
      argparser.add_argument(
          "--no-noise",
          action="store_true",
          help="remove the drop off and noise from the normal (non-semantic) lidar",
      )
      argparser.add_argument(
          "--upper-fov",
          metavar="F",
          default=30.0,
          type=float,
          help="lidar's upper field of view in degrees (default: 15.0)",
      )
      argparser.add_argument(
          "--lower-fov",
          metavar="F",
          default=-25.0,
          type=float,
          help="lidar's lower field of view in degrees (default: -25.0)",
      )
      argparser.add_argument(
          "-c",
          "--channels",
          metavar="C",
          default=64.0,
          type=float,
          help="lidar's channel count (default: 64)",
      )
      argparser.add_argument(
          "-r",
          "--range",
          metavar="R",
          default=100.0,
          type=float,
          help="lidar's maximum range in meters (default: 100.0)",
      )
      argparser.add_argument(
          "--points-per-second",
          metavar="N",
          default="100000",
          type=int,
          help="lidar points per second (default: 100000)",
      )
      args = argparser.parse_args()
      args.width, args.height = [int(x) for x in args.res.split("x")]
      args.dot_extent -= 1
  
      try:
          tutorial(args)
  
      except KeyboardInterrupt:
          print("\nCancelled by user. Bye!")
  
file_path: carla/PythonAPI/examples/lidar_to_camera.py
imports: import glob
  import os
  import sys
  import carla
  import argparse
  from queue import Queue
  from queue import Empty
  from matplotlib import cm
label_desc: Use image node_id 3 for calling a global function with example usage: main() without return types